| { |
| "task_name": "chopping wood", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 7761, |
| "valid_duration": [ |
| 0, |
| 7761 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 294 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 294, |
| 1028 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1028, |
| 1354 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1356, |
| 1617 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "axe_173" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1617, |
| 2076 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2076, |
| 2505 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2505, |
| 3056 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3056, |
| 3117 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_174_0", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_174_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3117, |
| 3222 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_174_1", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_174_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3117, |
| 3222 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3222, |
| 3568 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3568, |
| 3825 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3825, |
| 4041 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4041, |
| 4253 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4253, |
| 4333 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_177_0", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_177_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4334, |
| 4443 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_177_1", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_177_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4334, |
| 4443 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4443, |
| 4711 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4711, |
| 4910 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4910, |
| 5103 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5103, |
| 5460 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5460, |
| 5574 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_175_1", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_175_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5574, |
| 5664 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_175_1", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_175_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5664, |
| 5760 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5760, |
| 6218 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6218, |
| 6445 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6445, |
| 6833 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6833, |
| 7095 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7095, |
| 7203 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_176_0", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_176_0" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7203, |
| 7269 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "half_log_176_1", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "half_log_176_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7203, |
| 7269 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7269, |
| 7761 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 3222 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3222, |
| 4443 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4443, |
| 5760 |
| ], |
| "skill_idxes": [ |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5760, |
| 7269 |
| ], |
| "skill_idxes": [ |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7269, |
| 7761 |
| ], |
| "skill_idxes": [ |
| 31 |
| ] |
| } |
| ] |
| } |